Browsing by Issue Date, starting with "2001-12-13"
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- Structure and trajectory optimization for redundant manipulatorsPublication . Pires, E. J. Solteiro; Tenreiro Machado, J. A.; Oliveira, P. B. de MouraThis paper proposes a genetic algorithm to generate a robot structure and the required manipulating trajectories. The objective is to minimize the space/time ripple in the trajectory without colliding with any obstacles in the workspace, while optimizing the mechanical structure.